Wheeledbase/lib/motors/include/I2CDCDriver.h

//
// Created by Romain Pouvreau on 23/04/2026.
//
 
#ifndef PAMIS_I2CDCDRIVER_H
#define PAMIS_I2CDCDRIVER_H
 
 
#ifdef ARDUINO
//#error "Not implemented"
#elif ESP_PLATFORM
#include "i2cdev.h"
#include "pca9685.h"
#include "mathutils.h"
#endif
#ifndef ARDUINO
#include "mathutils.h"
#include "AbstractDriver.h"
 
#define PCA9685_HIGH 4096
#define PCA9685_LOW 0

class I2CDCDriver : public AbstractDriver
{
public:
    I2CDCDriver(int m1_fwd_port, int m1_bck_port, int m1_pwm, int m2_fwd_port, int m2_bck_port, int m2_pwm, int stdby_port);

    void init(i2c_dev_t* dev);

    int attach(AbstractMotor* motor) override;

    int attach(AbstractMotor* motor, uint8_t id) override;

    void setVelocity(float velocity, uint8_t id) override;

    float getVelocity(uint8_t id) const override;

    bool isFaulty() const;

    void setSleep(bool active);
 
private:
    int m_m1_fwd_port;
    int m_m1_bck_port;
    int m_m1_pwm;
    int m_m2_fwd_port;
    int m_m2_bck_port;
    int m_m2_pwm;
    int m_stdby_port;
    i2c_dev_t* m_dev = {};
    float m_currentVelocity; 
    bool m_lastForward[2];
};
 
#endif
#endif //PAMIS_I2CDCDRIVER_H